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   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">Simple Grasping Application</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">SimpleGrasping Class Reference</div>  </div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a2378696c46e6f023d5032919b1af8fad"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_simple_grasping.html#a2378696c46e6f023d5032919b1af8fad">SimpleGrasping</a> (ros::NodeHandle n_, float pregrasp_x, float pregrasp_y, float pregrasp_z, float length=1, float breadth=0.6)</td></tr>
<tr class="memdesc:a2378696c46e6f023d5032919b1af8fad"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_simple_grasping.html">SimpleGrasping</a> behaviour Constructor.  <a href="#a2378696c46e6f023d5032919b1af8fad">More...</a><br/></td></tr>
<tr class="separator:a2378696c46e6f023d5032919b1af8fad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a133954726ab489d9c5d7c20b4504eb82"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_simple_grasping.html#a133954726ab489d9c5d7c20b4504eb82">imageCb</a> (const sensor_msgs::ImageConstPtr &amp;msg)</td></tr>
<tr class="memdesc:a133954726ab489d9c5d7c20b4504eb82"><td class="mdescLeft">&#160;</td><td class="mdescRight">imageCb is called when a new image is received from the camera  <a href="#a133954726ab489d9c5d7c20b4504eb82">More...</a><br/></td></tr>
<tr class="separator:a133954726ab489d9c5d7c20b4504eb82"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb6d0c8e6d4f0668c212181bb82cf8ff"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adb6d0c8e6d4f0668c212181bb82cf8ff"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_simple_grasping.html#adb6d0c8e6d4f0668c212181bb82cf8ff">initiateGrasping</a> ()</td></tr>
<tr class="memdesc:adb6d0c8e6d4f0668c212181bb82cf8ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">initiateGrasping initiates the grasping behaviour <br/></td></tr>
<tr class="separator:adb6d0c8e6d4f0668c212181bb82cf8ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a771b6bba25730dbaf2ff72a4bd6938a1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a771b6bba25730dbaf2ff72a4bd6938a1"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_simple_grasping.html#a771b6bba25730dbaf2ff72a4bd6938a1">goHome</a> ()</td></tr>
<tr class="memdesc:a771b6bba25730dbaf2ff72a4bd6938a1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Function brings the arm back to home configuration. <br/></td></tr>
<tr class="separator:a771b6bba25730dbaf2ff72a4bd6938a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname">SimpleGrasping::SimpleGrasping </td>
          <td>(</td>
          <td class="paramtype">ros::NodeHandle&#160;</td>
          <td class="paramname"><em>n_</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>pregrasp_x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>pregrasp_y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>pregrasp_z</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>length</em> = <code>1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>breadth</em> = <code>0.6</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p><a class="el" href="class_simple_grasping.html">SimpleGrasping</a> behaviour Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">n_</td><td>ros_NodeHandle </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pregrasp_x</td><td>Desired PregraspingX </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pregrasp_y</td><td>Desired PregraspingY </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">pregrasp_z</td><td>Desired PregraspingZ </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">length</td><td>The length of table </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">breadth</td><td>The breadth of table </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void SimpleGrasping::imageCb </td>
          <td>(</td>
          <td class="paramtype">const sensor_msgs::ImageConstPtr &amp;&#160;</td>
          <td class="paramname"><em>msg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>imageCb is called when a new image is received from the camera </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">msg</td><td>Image received as a message </td></tr>
  </table>
  </dd>
</dl>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>SimpleRobotArmGrasping/robotarm_grasping/include/robotarm_grasping/<a class="el" href="_simple_grasping_8h_source.html">SimpleGrasping.h</a></li>
<li>SimpleRobotArmGrasping/robotarm_grasping/src/<a class="el" href="_simple_grasping_8cpp.html">SimpleGrasping.cpp</a></li>
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